by Joseph Chun-kong Chan. / Thesis (M.Phil.)--Chinese University of Hong Kong, 1998. / Includes bibliographical references (leaves 117-124). / Abstract also in Chinese. / Abstract --- p.i / Acknowledgments --- p.iv / List of Figures --- p.xi / List of Tables --- p.xii / List of Algorithms --- p.xiii / Chapter 1 --- Introduction --- p.1 / Chapter 1.1 --- Motivation --- p.1 / Chapter 1.2 --- Related Work --- p.5 / Chapter 1.3 --- Contributions --- p.7 / Chapter 1.4 --- Organization of the Thesis --- p.9 / Chapter 2 --- Contact Modeling: Kinematics --- p.11 / Chapter 2.1 --- Introduction --- p.11 / Chapter 2.2 --- Contact Kinematics between Two Rigid Bodies --- p.14 / Chapter 2.2.1 --- Contact Modes --- p.14 / Chapter 2.2.2 --- Montana's Contact Equations --- p.15 / Chapter 2.3 --- Finger Kinematics --- p.18 / Chapter 2.3.1 --- Finger Forward Kinematics --- p.19 / Chapter 2.3.2 --- Finger Jacobian --- p.21 / Chapter 2.4 --- Grasp Kinematics between a Finger and an Object --- p.21 / Chapter 2.4.1 --- Velocity Transformation between Different Coordinate Frames --- p.22 / Chapter 2.4.2 --- Grasp Kinematics for the zth Contact --- p.23 / Chapter 2.4.3 --- Different Fingertip Models and Different Contact Modes --- p.25 / Chapter 2.5 --- Velocity Constraints of the Entire System --- p.28 / Chapter 2.6 --- Summary --- p.29 / Chapter 3 --- Contact Modeling: Dynamics --- p.31 / Chapter 3.1 --- Introduction --- p.31 / Chapter 3.2 --- Multi-fingered Robot Hand Dynamics --- p.33 / Chapter 3.3 --- Object Dynamics --- p.35 / Chapter 3.4 --- Constrained System Dynamics --- p.37 / Chapter 3.5 --- Summary --- p.39 / Chapter 4 --- Collision Modeling --- p.40 / Chapter 4.1 --- Introduction --- p.40 / Chapter 4.2 --- Assumptions of Collision --- p.42 / Chapter 4.3 --- Collision Point Velocities --- p.43 / Chapter 4.3.1 --- Collision Point Velocity of the ith. Finger --- p.43 / Chapter 4.3.2 --- Collision Point Velocity of the Object --- p.46 / Chapter 4.3.3 --- Relative Collision Point Velocity --- p.47 / Chapter 4.4 --- Equations of Collision --- p.47 / Chapter 4.4.1 --- Sliding Mode Collision --- p.48 / Chapter 4.4.2 --- Sticking Mode Collision --- p.49 / Chapter 4.5 --- Summary --- p.51 / Chapter 5 --- Dynamic Simulation --- p.53 / Chapter 5.1 --- Introduction --- p.53 / Chapter 5.2 --- Architecture of the Dynamic Simulation System --- p.54 / Chapter 5.2.1 --- Input Devices --- p.54 / Chapter 5.2.2 --- Dynamic Simulator --- p.58 / Chapter 5.2.3 --- Virtual Environment --- p.60 / Chapter 5.3 --- Methodologies and Program Flow of the Dynamic Simulator --- p.60 / Chapter 5.3.1 --- Interference Detection --- p.61 / Chapter 5.3.2 --- Constraint-based Simulation --- p.63 / Chapter 5.3.3 --- Impulse-based Simulation --- p.66 / Chapter 5.4 --- Summary --- p.69 / Chapter 6 --- Simulation Results --- p.71 / Chapter 6.1 --- Introduction --- p.71 / Chapter 6.2 --- Change of Grasping Configurations --- p.71 / Chapter 6.3 --- Rolling Contact --- p.76 / Chapter 6.4 --- Sliding Contact --- p.76 / Chapter 6.5 --- Collisions --- p.85 / Chapter 6.6 --- Dextrous Manipulation Motions --- p.93 / Chapter 6.7 --- Summary --- p.94 / Chapter 7 --- Conclusions --- p.99 / Chapter 7.1 --- Summary of Contributions --- p.99 / Chapter 7.2 --- Future Work --- p.100 / Chapter 7.2.1 --- Improvement of Current System --- p.100 / Chapter 7.2.2 --- Applications --- p.101 / Chapter A --- Montana's Contact Equations for Finger-object Contact --- p.103 / Chapter A.1 --- Local Coordinates Charts --- p.103 / Chapter A.2 --- "Curvature, Torsion and Metric Tensors" --- p.104 / Chapter A.3 --- Montana's Contact Equations --- p.106 / Chapter B --- Finger Dynamics --- p.108 / Chapter B.1 --- Forward Kinematics of a Robot Finger --- p.108 / Chapter B.1.1 --- Link-coordinate Transformation --- p.109 / Chapter B.1.2 --- Forward Kinematics --- p.109 / Chapter B.2 --- Dynamic Equation of a Robot Finger --- p.110 / Chapter B.2.1 --- Kinetic and Potential Energy --- p.110 / Chapter B.2.2 --- Lagrange's Equation --- p.111 / Chapter C --- Simulation Configurations --- p.113 / Chapter C.1 --- Geometric models --- p.113 / Chapter C.2 --- Physical Parameters --- p.113 / Chapter C.3 --- Simulation Parameters --- p.116 / Bibliography --- p.124
| Identifer | oai:union.ndltd.org:cuhk.edu.hk/oai:cuhk-dr:cuhk_322181 |
| Date | January 1998 |
| Contributors | Chan, Joseph Chun-kong., Chinese University of Hong Kong Graduate School. Division of Mechanical and Automation Engineering. |
| Source Sets | The Chinese University of Hong Kong |
| Language | English, Chinese |
| Detected Language | English |
| Type | Text, bibliography |
| Format | print, xiii, 124 leaves : ill. ; 30 cm. |
| Rights | Use of this resource is governed by the terms and conditions of the Creative Commons “Attribution-NonCommercial-NoDerivatives 4.0 International” License (http://creativecommons.org/licenses/by-nc-nd/4.0/) |
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